Conflict Avoidance Device

Abstract

To prevent, in a non-contact power supply system, a situation in which when a plurality of movable bodies move for power supply, the movable bodies collide with each other on a power supply device.SOLUTION: A collision avoidance device comprises a control unit that executes collision avoidance control of preventing, in a non-contact power supply system, a situation in which a movable body moving on a power supply device for power supply collides with another movable body. The control unit determines, based on a detection result of detecting the movable bodies approaching the power supply device as objects, whether the movable bodies are likely to collide with each other on the power supply device, and when the movable bodies are likely to collide with each other, outputs a signal for instructing a collision avoidance action for avoiding collision to at least one of the movable bodies.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a collision avoidance device. [Background technology]

[0002] Patent Document 1 discloses a contactless power supply system equipped with a power supply device that supplies power contactlessly to a power receiving device mounted on an electric vehicle. This power supply device includes a power supply mat having a power transmission coil. This power supply mat is formed in a portable rectangular sheet shape and can be placed on the road surface on which the electric vehicle runs. When the electric vehicle passes over the power supply mat, power is supplied contactlessly from the power transmission coil on the road surface side to the power receiving coil on the vehicle side. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-236540 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a contactless power supply system in which a power supply device is installed on a road surface, it is possible to supply power to various moving objects, including not only electric vehicles such as those in the configuration described in Patent Document 1, but also vehicles capable of automatic driving and moving objects too small for a person to ride in. Furthermore, it is assumed that multiple moving objects traveling on the road surface approach the power supply device to supply power, stop on the power supply device to supply power, or pass over the power supply device while supplying power. However, since multiple moving objects approach the power supply device from various directions and at various times and pass over it, there is a risk of the moving objects colliding with each other on the power supply device.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a collision avoidance device for a contactless power supply system that can prevent multiple moving bodies from colliding with each other on a power supply device when the moving bodies move for power supply. [Means for solving the problem]

[0006] The collision avoidance device of the present invention is targeted at a contactless power supply system including a power supply device that supplies power contactlessly to a moving body capable of electrically powered running, and is equipped with a control unit that executes collision avoidance control to prevent a moving body passing over the power supply device to supply power from colliding with other moving bodies, and the control unit determines whether there is a high possibility of the moving bodies colliding with each other on the power supply device based on a detection result of object detection of the moving body approaching the power supply device, and if there is a high possibility of the moving bodies colliding with each other, outputs a signal to at least one of the moving bodies instructing them to take collision avoidance action to avoid the collision. Effect of the Invention

[0007] The present invention is applicable to a contactless power supply system and can prevent a plurality of moving objects from colliding with each other above a power supply device when the moving objects move for power supply. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a collision avoidance device according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram for explaining a state in which a small moving object is detected. [Diagram 3] FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. [Figure 4] FIG. 4 is a flow chart showing the control in the power supply device. [Diagram 5] FIG. 5 is a flow chart for explaining the control in the small moving object when a collision avoidance command is received. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a collision avoidance device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiment described below.

[0010] 1 is a diagram showing a schematic diagram of a collision avoidance device according to an embodiment. The collision avoidance device 1 is applied to a contactless power supply system in which a small mobile object 2 capable of electrically traveling is supplied with power from a power supply device 3 in a contactless manner.

[0011] In the contactless power supply system, a power supply device 3 is placed on a road surface on which a small mobile object 2 travels, and when the small mobile object 2 passes over the power supply device 3, power is supplied from the power supply device 3 to the small mobile object 2 in a contactless manner. In other words, the collision avoidance device 1 is intended for the contactless power supply system and is configured to prevent the small mobile objects 2 from colliding with each other on the power supply device 3 when multiple small mobile objects 2 move for power supply. At that time, a camera 4 captures an image of the small mobile object 2 approaching the power supply device 3. Image data captured by the camera 4 is input to the power supply device 3. In this embodiment, a configuration in which the collision avoidance device 1 is provided in the power supply device 3 will be described.

[0012] 2, for example, the camera 4 captures an image of a plurality of small moving objects 2 approaching the power supply device 3. Based on the captured image, the collision avoidance device 1 can perform object detection of the small moving objects 2 approaching the power supply device 3 for power supply, and control the behavior of the small moving objects 2 so that the small moving objects 2 do not collide with each other on the power supply device 3. In this case, the collision avoidance device 1 can instruct the small moving objects 2 to take evasive action in order to prevent the small moving objects 2 from colliding with each other on the power supply device 3.

[0013] 3 is a functional block diagram for explaining the configuration of the collision avoidance device 1. The collision avoidance device 1 is configured to be included in a power supply device 3.

[0014] The power supply device 3 includes a communication unit 11, a control unit 12, and a power supply unit 13.

[0015] The communication unit 11 performs wireless communication with the small mobile object 2. The communication unit 11 receives a signal transmitted from the small mobile object 2, and transmits a signal from the power supply device 3 to the small mobile object 2.

[0016] The control unit 12 is an electronic control device that controls the power supply device 3. This electronic control device is configured to include a microcomputer equipped with a CPU, RAM, ROM, and an input / output interface. That is, the control unit 12 performs signal processing according to a program prestored in the ROM. The control unit 12 then executes various controls based on a signal input from the communication unit 11. For example, the control unit 12 executes non-contact power supply control to control the power supply unit 13. At that time, a control signal is output from the control unit 12 to the power supply unit 13. The power supply unit 13 is configured to include a power transmission coil. For example, the power supply unit 13 is configured by a sheet-like power supply mat that can be carried around.

[0017] In the non-contact power supply control, the control unit 12 controls the power supply unit 13, thereby transmitting power in a non-contact manner from the power supply unit 13 to the small mobile object 2. That is, the control unit 12 has a power supply control unit that executes the non-contact power supply control.

[0018] The control unit 12 also executes collision avoidance control to prevent small moving objects 2 from colliding with each other on the power supply device 3. That is, the control unit 12 has a collision avoidance control unit that executes collision avoidance control. As shown in Fig. 3, the control unit 12 includes an object detection unit 12a, a collision determination unit 12b, a target identification unit 12c, and a collision avoidance instruction creation unit 12d.

[0019] The object detection unit 12a detects the small moving object 2 approaching the power supply device 3. The object detection unit 12a detects the small moving object 2 by analyzing the image based on the image data input from the camera 4. This object detection unit 12a analyzes and recognizes the image using AI (artificial intelligence), and identifies where in the image the small moving object 2 is located. This AI is an image recognition AI that machine-learns the image of the small moving object 2. The image recognition AI is stored in the memory unit of the power supply device 3.

[0020] Furthermore, the object detection unit 12a uses the image captured by the camera 4 to calculate the probability that the object contained in the image is a small moving object 2, as shown in Fig. 2. Then, when the image analysis result indicates that the probability that the object is a small moving object 2 exceeds a threshold, the object detection unit 12a can determine that it has detected the small moving object 2 approaching the power supply device 3. In this manner, the object detection unit 12a can object detect the small moving object 2. The threshold is a predetermined value that is set in advance, and can be set to, for example, about 65%.

[0021] Furthermore, the object detection unit 12a can detect the identification information of the small moving object 2 by image recognition. For example, information capable of identifying the small moving object 2 (as an example, an identification number) is attached to the outer surface of the small moving object 2. Therefore, the object detection unit 12a can detect the identification number of the small moving object 2 from the image by image analysis.

[0022] The collision determination unit 12b determines whether or not small mobile objects 2 collide with each other on the power supply device 3. That is, the control unit 12 can recognize that the small mobile object 2 is approaching the power supply device 3 for power supply based on the detection result of the object detection by the object detection unit 12a. Furthermore, the control unit 12 can calculate the direction in which the small mobile object 2 is located and the distance between the small mobile object 2 and the power supply device 3 based on the information about the small mobile object 2 whose object has been detected. The information about the small mobile object 2 whose object has been detected includes the identification information of the small mobile object 2, the direction in which the small mobile object 2 is located, the distance from the small mobile object 2 to the power supply device 3, and the like. These pieces of information are acquired by the object detection unit 12a.

[0023] The collision determination unit 12b also has a calculation unit that calculates the possibility of the small moving bodies 2 colliding with each other on the power supply device 3. The calculation unit calculates the possibility of collision as a probability using information acquired by the object detection unit 12a. Then, when the calculated collision probability, i.e., a value indicating the possibility of collision, is higher than a threshold value, the collision determination unit 12b can determine that there is a high possibility that the small moving bodies 2 will collide with each other on the power supply device 3. This threshold value is a preset value. For example, the collision determination unit 12b compares information indicating the direction and distance in which one small moving body 2 is located with information indicating the direction and distance in which the other small moving body 2 is located for two small moving bodies 2, and when it is determined that each of them passes over the power supply device 3 at the same time, it determines that the two small moving bodies 2 may collide with each other on the power supply device 3.

[0024] The target specifying unit 12c specifies the small moving object 2 to be caused to take an avoidance action to avoid a collision. The target specifying unit 12c specifies a target to which a collision avoidance instruction is to be transmitted.

[0025] The collision avoidance instruction creation unit 12d creates a collision avoidance instruction. The collision avoidance instruction is a signal transmitted to a small moving body 2 that is to be made to take a collision avoidance action, and is a signal that instructs the small moving body 2 that receives this signal to take a collision avoidance action. This collision avoidance instruction creation unit 12d creates a collision avoidance instruction that is targeted for transmission to the small moving body 2 identified by the target identification unit 12c.

[0026] Then, the power supply device 3 transmits the collision avoidance instruction created by the collision avoidance instruction creation unit 12d to the small moving object 2 identified by the target identification unit 12c. The storage unit of the power supply device 3 stores the identification information of the small moving object 2 and information that allows the small moving object 2 to be specified as a destination in association with each other. Therefore, the power supply device 3 can specify the destination information of the small moving object 2 specified as the instruction target by the target identification unit 12c by using the identification information included in the detection result of the object detection by the object detection unit 12a and the information stored in the storage unit.

[0027] The small mobile object 2 includes a communication unit 21, a control unit 22, a power receiving unit 23, and a drive unit 24.

[0028] The communication unit 21 performs wireless communication with the power supply device 3. The communication unit 21 receives a collision avoidance instruction signal transmitted from the power supply device 3, and transmits a signal from the small moving object 2 to the power supply device 3.

[0029] The control unit 22 is an electronic control device that controls the small moving body 2. This electronic control device is configured to include a microcomputer equipped with a CPU, RAM, ROM, and an input / output interface. In other words, the control unit 22 performs signal processing according to a program pre-stored in the ROM. The control unit 22 then executes various controls for controlling the small moving body 2. For example, the control unit 22 executes non-contact charging control for controlling non-contact charging by the power receiving unit 23, and drive control for controlling electric traveling by the drive unit 24.

[0030] In the non-contact charging control, a control signal from the control unit 22 is output to the power receiving unit 23, and the power receiving unit 23 is controlled to a state in which power can be received non-contact. The power receiving unit 23 receives power supplied from the power supply device 3 non-contact, and charges the received power to a battery. Specifically, the power receiving unit 23 has a power receiving coil that receives power supplied from the power supply device 3 non-contact. Furthermore, the power receiving unit 23 functions as a charger that charges the battery with the power received by the power receiving coil. This battery is a secondary battery that can discharge and store power, and is composed of, for example, a lithium ion battery or a nickel metal hydride battery. Note that the non-contact power supply system including the power transmitting coil and the power receiving coil may be either of a magnetic resonance type or an electromagnetic induction type.

[0031] The control unit 22 also includes a drive control unit 22a. The drive control unit 22a executes drive control. In drive control, a control signal from the control unit 22 is output to the drive unit 24, which controls the drive unit 24 so that the small mobile body 2 travels in a desired state. The drive unit 24 has a motor that serves as a power source for travel. When the small mobile body 2 travels, the motor is driven by power supplied from a battery to the motor to generate a drive force for the small mobile body 2.

[0032] The drive control unit 22a controls the drive unit 24 to take avoidance action in response to the collision avoidance instruction received by the communication unit 21. The avoidance action includes stopping travel, changing the travel speed, and detouring the power supply device 3. In the small moving body 2, the action to be taken as the avoidance action is set in advance, and the small moving body 2 can be configured to automatically take the set avoidance action in response to receiving the collision avoidance instruction. For example, when stopping travel is set as the avoidance action, when the control unit 22 detects the collision avoidance instruction, it controls the drive unit 24 to brake the small moving body 2 and stop traveling.

[0033] The camera 4 is installed in a position where it can capture an image of the environment around the power supply device 3, and captures an image of the small moving object 2 approaching the power supply device 3 to supply power. For example, the camera 4 is configured to have an imaging range that includes 360 degrees around the location where the power supply device 3 is installed. Then, image data captured by the camera 4 is input to the power supply device 3. In addition, when the direction of the small moving object 2 entering the power supply device 3 is specified, the camera 4 may be installed so as to face the direction of the small moving object 2 entering the power supply device 3.

[0034] 4 is a flow chart showing the control in the power supply device 3. The control shown in FIG.

[0035] The control unit 12 of the power supply device 3 determines whether or not the small moving object 2 has been detected as an object (step S1). In step S1, it is determined whether or not the small moving object 2 has been detected as an object based on an image captured of the small moving object 2 approaching the power supply device 3. The process of step S1 is performed by the object detection unit 12a.

[0036] If the small moving object 2 is not detected (step S1: No), this control routine ends.

[0037] When a small moving object 2 is detected as an object (step S1: Yes), the control unit 12 of the power supply device 3 calculates the possibility that the small moving object 2 will collide with another small moving object 2 on the power supply device 3 based on the detection result of the object detection of the small moving object 2 (step S2). In step S2, the probability that small moving objects 2 that have moved for power supply will collide with each other on the power supply device 3 is calculated. The calculation process of step S2 is performed by the collision determination unit 12b.

[0038] Furthermore, the control unit 12 of the power supply device 3 judges whether or not the small moving objects 2 will collide with each other on the power supply device 3 (step S3). In step S3, based on the calculated collision probability, it is judged whether or not the small moving object 2 will collide with another small moving object 2 if it continues to pass over the power supply device 3. The judgment process of step S3 is performed by the collision judgment unit 12b.

[0039] If it is determined that the small moving objects 2 will not collide with each other above the power supply device 3 (step S3: No), this control routine ends.

[0040] On the other hand, if it is determined that the small moving bodies 2 will collide with each other on the power supply device 3 (step S3: Yes), the control unit 12 of the power supply device 3 identifies the small moving body 2 that is the target of the collision avoidance instruction (step S4). In step S4, at least one of the two small moving bodies 2 that are determined to have a high probability of colliding is identified as the target of the collision avoidance instruction. In other words, it is also possible to identify both of the two small moving bodies 2 as the instruction targets. Moreover, the processing of step S4 is performed by the target identification unit 12c.

[0041] For example, when the small mobile body 2 is a mobile body that transports luggage, information indicating the amount of luggage loaded on the small mobile body 2 can be used to determine the instruction target in step S4. The information acquired by the object detection unit 12a includes information on the luggage carried by the small mobile body 2. That is, the information on the small mobile body 2 that has been object-detected includes information on the luggage carried by the small mobile body 2. Therefore, the object detection unit 12a can identify the amount and number of luggage by image analysis. In this case, the small mobile body 2 with a relatively small amount of luggage among the two small mobile bodies consumes less power during travel than the small mobile body 2 with a relatively large amount of luggage, so this small mobile body 2 can be specified as the avoidance instruction target. That is, in order to prevent a power shortage, the small mobile body 2 that is relatively in need of power supply is given priority as the power supply target to continue moving, and the instruction target is determined so that the other small mobile body 2 takes a collision avoidance action. It is possible to supply power preferentially to the small mobile body 2 that is more likely to consume power based on the number of luggage and the total weight of the luggage, not limited to the amount of luggage.

[0042] Then, the power supply device 3 transmits a collision avoidance instruction to the small moving body 2 identified as the instruction target (step S5). In step S5, a collision avoidance instruction signal created by the collision avoidance instruction creation unit 12d is transmitted to the small moving body 2 identified by the target identification unit 12c. For example, when one of the two small moving bodies 2 is identified as the instruction target, a collision avoidance instruction signal is transmitted from the power supply device 3 to the one small moving body 2. After the processing of step S5 is performed, this control routine ends.

[0043] 5 is a flow chart for explaining the control in the small moving body when a collision avoidance command is received. Note that the control shown in FIG. 5 is repeatedly performed by the control unit 22 of the small moving body 2.

[0044] The control unit 22 of the small moving object 2 determines whether or not a collision avoidance instruction has been received (step S11). In step S11, it is determined whether or not the communication unit 21 has received a collision avoidance instruction.

[0045] If a collision avoidance command has not been received (step S11: No), this control routine ends.

[0046] When a collision avoidance instruction is received (step S11: Yes), the control unit 22 of the small moving body 2 executes an avoidance action (step S12). In step S12, the drive control unit 22a controls the drive unit 24, and the avoidance action is taken to avoid the collision. After the process of step S12 is performed, this control routine ends.

[0047] As described above, according to the embodiment, in a contactless power supply system, it is possible to prevent multiple small mobile bodies 2 from colliding with each other on the power supply device 3 when the small mobile bodies 2 move for power supply.

[0048] In the above example, the configuration in which the avoidance action is preset has been described, but the present invention is not limited thereto. For example, the signal of the collision avoidance instruction may include information specifying the avoidance action. That is, the power supply device 3 creates a collision avoidance instruction including information indicating stopping of traveling as the avoidance action, and transmits this collision avoidance instruction to the target small moving body 2. Then, the small moving body 2 that receives the collision avoidance instruction is configured to take the avoidance action according to the information of the avoidance action included in the collision avoidance instruction.

[0049] Although the small moving body 2 has been described, the moving body to be supplied with power is not limited to this. In other words, the present invention is applicable to a contactless power supply system to which power is supplied to an electric car, a non-small moving body, a moving body capable of automatic running, etc.

[0050] Further, although the configuration in which the collision avoidance device 1 is provided in the power supply device 3 has been described, the present invention is not limited to this. For example, the collision avoidance device 1 may be provided in a server. This server is connected to the small moving object 2 and the power supply device 3 via a network so as to be able to transmit and receive information. In this case, the control shown in FIG. 4 is performed by the server.

[0051] Further, although the configuration in which the camera 4 is provided separately from the power supply device 3 has been described, the present invention is not limited to this. For example, the power supply device 3 may be configured to include the camera 4.

[0052] Also, the example in which the power supply device 3 includes the power supply unit 13 and the power supply unit 13 is configured as a power supply mat has been described, but the present invention is not limited to this. For example, the power supply unit 13 may include a power transmission coil, and the power supply device 3 may be a power supply mat. In other words, the power supply device 3 configured as a sheet-like power supply mat is portable.

[0053] Furthermore, the method of detecting the identification information of the small mobile object 2 is not limited to the method of detection by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile object 2 through wireless communication between the small mobile object 2 and the power supply device 3. In this case, the small mobile object 2 transmits a signal such as an approaching signal, and the power supply device 3 receives the approaching signal. Since the approaching signal contains the identification information of the small mobile object 2, the power supply device 3 can obtain the identification information of the approaching small mobile object 2.

[0054] Furthermore, the method of acquiring information on the luggage carried by the small mobile object 2 is not limited to detection by image analysis. For example, the power supply device 3 can detect the identification information of the small mobile object 2 by wireless communication between the small mobile object 2 and the power supply device 3. In this case, the small mobile object 2 creates an approach signal including information on the luggage currently loaded on the small mobile object 2 (information indicating the number, weight, volume, etc.). Since the approach signal includes information on the luggage carried by the small mobile object 2, the power supply device 3 can acquire information on the luggage carried by the small mobile object 2.

[0055] In addition, in step S4 shown in FIG. 4, when determining the instruction target, information indicating the state of charge, i.e., SOC, of ​​the battery of the small mobile object 2 can be used. Of the two, the small mobile object 2 with a relatively higher SOC is less likely to run out of power even if power is not supplied this time, so this small mobile object 2 is specified as the avoidance instruction target. In this case, the approach signal includes information indicating the SOC of the small mobile object 2. In other words, the small mobile object 2 creates an approach signal including information indicating the SOC of the battery. Since the approach signal includes information indicating the SOC of the small mobile object 2, the power supply device 3 can obtain information regarding the current SOC of the small mobile object 2. [Explanation of symbols]

[0056] 1 Collision avoidance device 2 Small mobile object 3 Power supply device 4. Camera 11 Communications Department 12 Control section 12a Object detection unit 12b Collision determination section 12c Target Identification Section 12d Collision avoidance instruction creation unit 13 Power supply unit 21 Communications Department 22 Control section 22a Drive control unit 23 Power receiving section 24 Drive unit

Claims

[Claim 1] The present invention relates to a wireless power supply system including a power supply device that wirelessly supplies power to a moving body capable of electrically traveling, the system including: a control unit that executes collision avoidance control to prevent a moving body that passes over the power supply device to supply power from colliding with another moving body on the power supply device; the moving body is a small moving body that transports luggage, the power supply device is installed on a road surface on which the moving object travels and is configured as a sheet-like power supply mat, The control unit is detecting the moving object approaching the power supply device based on an image captured by a camera that captures an image of the moving object approaching the power supply device, and identifying the amount of luggage carried by the moving object through image analysis; determining whether or not there is a high possibility that the moving objects will collide with each other on the power supply device based on a detection result of the moving object detection of the moving object approaching the power supply device; When there is a high possibility that the moving objects will collide with each other on the power supply device, a signal is output to at least one of the moving objects to instruct the moving objects to take a collision avoidance action to avoid the collision; When specifying an instruction target for the collision avoidance behavior, a moving body having a relatively small amount of cargo loaded on the moving body is specified as the instruction target among the moving bodies that are likely to collide with each other on the power supply device. A collision avoidance device characterized by:

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